Ben Katz / Hobbyking_Cheetah

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Dependencies:   mbed-dev-f303 FastPWM3

Dependents:   GT_MOTOR_24NM_V03 GT_MOTOR_24NM_V03_PT1000CalTemp

structs.h@28:8c7e29f719c5, 2017-06-04 (annotated)

Committer:
benkatz
Date:
Sun Jun 04 19:00:22 2017 +0000
Revision:
28:8c7e29f719c5
Parent:
26:2b865c00d7e9
Child:
34:51647c6c500d
Use external oscillator

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1 #ifndef STRUCTS_H
benkatz 20:bf9ea5125d52 2 #define STRUCTS_H
benkatz 20:bf9ea5125d52 3
benkatz 20:bf9ea5125d52 4 //#include "CANnucleo.h"
benkatz 20:bf9ea5125d52 5 #include "mbed.h"
benkatz 20:bf9ea5125d52 6 #include "FastPWM.h"
benkatz 20:bf9ea5125d52 7
benkatz 20:bf9ea5125d52 8
benkatz 20:bf9ea5125d52 9 typedef struct{
benkatz 20:bf9ea5125d52 10 DigitalOut *enable;
benkatz 20:bf9ea5125d52 11 FastPWM *pwm_u, *pwm_v, *pwm_w;
benkatz 20:bf9ea5125d52 12 } GPIOStruct;
benkatz 20:bf9ea5125d52 13
benkatz 20:bf9ea5125d52 14 typedef struct{
benkatz 20:bf9ea5125d52 15
benkatz 20:bf9ea5125d52 16 }COMStruct;
benkatz 20:bf9ea5125d52 17
benkatz 20:bf9ea5125d52 18 typedef struct{
benkatz 20:bf9ea5125d52 19 int adc1_raw, adc2_raw;
benkatz 20:bf9ea5125d52 20 float i_a, i_b, i_c;
benkatz 20:bf9ea5125d52 21 float v_bus;
benkatz 20:bf9ea5125d52 22 float theta_mech, theta_elec;
benkatz 20:bf9ea5125d52 23 float dtheta_mech, dtheta_elec;
benkatz 20:bf9ea5125d52 24 float i_d, i_q;
benkatz 20:bf9ea5125d52 25 float v_d, v_q;
benkatz 20:bf9ea5125d52 26 float dtc_u, dtc_v, dtc_w;
benkatz 20:bf9ea5125d52 27 float v_u, v_v, v_w;
benkatz 20:bf9ea5125d52 28 float d_int, q_int;
benkatz 20:bf9ea5125d52 29 int adc1_offset, adc2_offset;
benkatz 20:bf9ea5125d52 30 float i_d_ref, i_q_ref;
benkatz 22:60276ba87ac6 31 int loop_count;
benkatz 28:8c7e29f719c5 32 int timeout;
benkatz 22:60276ba87ac6 33 int mode;
benkatz 26:2b865c00d7e9 34 float p_des, v_des, kp, kd, t_ff;
benkatz 23:2adf23ee0305 35 float cogging[128];
benkatz 20:bf9ea5125d52 36 } ControllerStruct;
benkatz 20:bf9ea5125d52 37
benkatz 22:60276ba87ac6 38 typedef struct{
benkatz 22:60276ba87ac6 39 float vel_1;
benkatz 22:60276ba87ac6 40 float vel_1_old;
benkatz 22:60276ba87ac6 41 float vel_1_est;
benkatz 22:60276ba87ac6 42 float vel_2;
benkatz 22:60276ba87ac6 43 float vel_2_old;
benkatz 22:60276ba87ac6 44 float vel_2_est;
benkatz 22:60276ba87ac6 45 float ts;
benkatz 22:60276ba87ac6 46 float est;
benkatz 22:60276ba87ac6 47 } VelocityEstimatorStruct;
benkatz 22:60276ba87ac6 48
benkatz 20:bf9ea5125d52 49 #endif